Torpedo depth control system



Oct. 14, 1952 A. l. KETO ToRPEDo DEPTH CONTROL SYSTEM Filed Oct. 25. 1948 A INVENTOR. AUGUST KETo BY Arr'r Patented Oct. 14, `1952 TORPEDO DEPTH CONTROL SYSTEM August I. Keto, Los Altos, Calif., assignor to the United States of America as represented by the Secretary of the Navy Application October` 25, 1948,`Serial No. 56,316

9 Claims. 1

This invention relates in general toa depth control system for torpedoes and is more partic-` ularly described as an electro-hydraulic system for proportional `depth control.`

In electrically propelled torpedoes `it is often advantageous to use a proportional depth control system instead of `the on-oif system now being used. Motor operated rudder systemsare not too satisfactory for higher speed torpedoes which travel at 4`OVkn`ots andr over,.due tothe rapidity with which the rudder must respond to changes inthe angle Or the depth signal. As no uid'pressure source is available in` anlelectrical torpedo, such ashigh pressure air in standard air driven torpedoes, it becomes `necessary .to provide a system which is self contained, Athatwill produce rapid positive proportionalrudder motionwith changes in the angle or` depth signal.

An important object of the invention is to obtain positive proportional` rudder motion with a tilt or depth change inthe travel oiga torpedo.

Another object of` the invention isV `toprovide a fluttering motion of the rudder in controlling the torpedo depth, in which theamplitude is so small and the frequency so high that the torpedo body will not follow it. Y I

A further object of the invention Vis to obtain quick action by high iiuid `pressure and without requiring a separate driving motor.

A still further object of the invention is to providean electrical depthcontrol-system which can be used on a torpedo Awith a homing` head, with practically no change.

Other objects of the invention `will appear in the specification and will be apparentfrom the accompanying drawing in which the iigure ls a diagrammatic view of an electro-hydraulic system for controlling the depth of electrically propelled torpedoes. l

In carrying out this invention, magnetically controlled valve means and high pressure liquid pump means are mounted in a sealed container and `they are controlled by two potentiometers, a vacuum tube and a relay, to produce a nuttering motion of the rudder independent of the torpedo body motion at any selected or" predetermined balance point between theV two potentiometers. Y

Referring now more particularlyto the drawing, a sealed container 4for liquid such as oil 6 has a plug 8 and a bellows l0 which act as la combined lling vent and an oil gage. In the container is a high pressure gear pump repreu tion as mounted upon a main drive shaft IB with high pressure oil lines 22 and 24 leading from the gears (or pump) and outwardly through the container wall. Gear I6 is usually not mounted on thefdrive shaft, but is driven by it through a geared power take-oit of any suitable known type.

Also located in the container are magnet and spring operated valves for controlling oil flow from the pumps: a magnet frame 26 has end recesses 28 and 30 connected by pipes 32 and ,34"

to the oil lines 22 and 24 respectively; each recess has Openings in the frame, one opening 29 for the recess 28 and` another opening 3l for the other recess 3U being at the same side of the frame from which an intermediate pivot bar 3,6 `also extends. A magnet bar 38 is pivoted between its ends at the outer end of the bar 36 and at the ends of the magnet bar are round end valve plugs il!! and 42 adapted to seal conversely in and to close the openings 2B and 3l respectively.

Between the pivot bar `36 and the plug 40 is a coil spring 44 connected at one end to magnet bar 38 and at the other end to the magnet frame 26, and between the pivot bar and the plug 42 is a magnet core 46 secured to the magnet frame. Surrounding the core is a magnet winding 5i! with conductors 52` and 54 leading therefrom` through the container wall. When the winding 50 is energized the magnet bar 38 is rocked against the tension of the spring 44 closing the valve plug 42 in its opening 3l,` and moving the valve plug' to free its opening 29. When the winding is deenergized, the spring 44 reverses the movement ,of the bar 38, ,opening Valve plug 42 and closing the valve plug 4U.

Located outside of the sealed container and preferably near a rear bulkhead 56 is a closed cylinder 58 for a piston 60 movable therein and having a piston rod 62 extending from one end of the cylinder and through Vthe bulkhead. A horizontal depth rudder 64 is pivoted ona block 66 and has an arm `68 pivotally connected to the end of the piston rod. A liquid packing 'l0 surrounds the rod in the bulkhead and a similar packinglZ for the rod is in the rear end of the cylinder v58.

Within the cylinder 58 the piston 6d is normally maintained in a position to hold the rudder 64 substantially horizontal with the piston centrally in a chamber 14 having a restriction partition 16 at `the rear end spaced from the packing and having an oil return pipe 18 connected thereto and to discharge into the container et.y In practice the rudder is held at a slightly downward angle so as to maintain the torpedo at set depth on its run. With the rudder at its normal downward. angle, the piston will be centrally located in the cylinder. Connected near one end of the chamber 14 is the high pressure line 22 and connected near the other end of the chamber-is highpressure line 24;.

High pressure iiuidis thus supplied to the opposite ends of the chamber 'I4 tending to balance and maintain the piston in its central or normal position and the rudder horizontally. When either Valve plug 40 or 42 is movedy to ropenfits Valve, the Icorresponding pressurefline 22 or 24 is relieved and the pistonis pressed toward therelievedV side by the oppositeY Ypressure line. Any` surplus oil or any oil leakage is returned from the cylinder tothe container '4 by the return pipe 18. v A piston potentiometer comprises a resistance 80 tconnected by conductors and 81| with opposite terminals yof a batteryli, anjd a contactv makerSBQ carriedby and movable with the vpiston redt? [fAlso connected to the terminals of the batteryris a v,resistance .et for. a potentiometer which'comprises a pendulum V92 mounted, upon a transverse pivot 93 to swing fore and aft in a torpedoforcontrolling its depth or angleof'inolination.

-. Extending iromthecontact maker 88 is a conductorill connected through a resistor AElli to the grid of an. electronictube'il. Extending from. `a., contact. maker i)v carried .by the pendulum is aA conductora .|02 connec'tegil to. the plate ofthe 'meest` `and to oneterminagi of a bai-.temv |04. The other terminal .of this ,battery is lconnected thrl ughv a'relayrcoil` |106 for a circuit. closerf|08 in themagnet conductor 54, and is thence connected through conductor |0 to the cathode of the.;tubel 98 to complete the relay coil circuit.'A

:When the coil |06 is energized the circuit closer |08 completes a circuit through the magnet windcom e'sklfup'to speed. The `oil pump (vor pumps) geared ,tothe/shaft builds up the required oil pressurefwhich is supplied` by the pipe lines ,22 and 242130 both sides of the piston '60, tending to keep'iti centered longitudinally in the cylinder chamber 14. v ,s

Whenthetorpedo yis in steady running conditionr at. it`spredetermined depth, the contact maker |00 1 of the pendulum potentiometer is essentially in mid position on' the resistance 90 andfthe contact maker 88 of' the piston potentiometer 'isjalsoin'mid ,position on its resistance" 8,0". In" this condition the torpedo rudder |i4fwll "flutter througl'rV a small arc due to the on-Aoffflcharavcteristics "of the control system. lojr'exampleiY withl therrelay contact closer Hi8 in open vcondition, `the .magnet winding 50 is deenergized,r the yvalve plug 42 is'lifted from, .its opening 3|, pressure' is relieved in supply line '24, andthe pistonfmoves inthe direction marked opehfijas the piston moves in this marked'direction; he contactmaker 88 on the piston rod 62 ed therewith 'until the voltage lon the grid this circuit closer is closed, the circuit through the magnet winding 50 is closed, and this operates the magnet bar 38, opening the valve plug 40 and closing the valve plug 42; and the piston and piston rod are moved in the reverse or closed position.

With the piston motion in the direction marked closed,- the contact maker 88 vonthe piston rod is moved reversely untilthe voltageapplied to the ,grid of the tube 98 is such that the current through the tube plate andA relay coil circuit its circuit to the magnet winding 50, releasingV themagnct-ban to the influence and operation ofthe rudder beeomeeffective. l Among the advantagesof this system are; no f of th electronic tube is such that sufficient current. nows'through the tube plate and the* relay coilcircuit to close the circuit closer |08; when is so small that relay circuit closer |08 opens of` its spririgplll..@y`

When therelay .circuit closer for the-magnet winding circuit is again open, the cycle outlined is repeated rapidly and a fluttering movement of the rudder is produced. This fluttering movement is so small and the frequency is so high that the` torpedo body will not follow it, and the movement is independent of the torpedo.body motion. v

A fiutteringmotio'n may be produced. in a simi'- lar manner at anybalance point between the two potentiometers; If the torpedo is tilted so that the contact maker .|00 ofthe pendulum `potentiometer L'isf'half way between the `normalv central positionand one endof the resistance 9 0,

the pistcrianacylinder assembly, acting under the iiuid pressuregwill move the. contact ymaker 88 of the piston potentiometerto a corresponding position,' and ther flutteringaction willbe described about thispoint; n

In recovery, Vtoa predetermined or set'depth from a transient lposition or level, the pendulum contact maker |00 is'moved along the potentiorn-v eter resistance '90 lby. the combined actionof the angular deviation from thenormal angle and by its normal runningposition.l j

This-system can be used on a' torpedowith a homing headQifarelay with normally'clos'ed `cony tacts 'is'placedin `series in the magnet coil circuit. Whenasignal to the homing torpedo is correct, this'relay with the normally closed contacts will open the circut,lde-energizing the mag.-Y 4

net coil. *With no power tothe magnet coil the fluttering control action willcease, `a hard,1` 1p rudder Willjre'sult Vand thetorpedo will ,rise to attack.

Although. this systemhas been described pri-l marily as applied to depth control, it may also be adapted without slubstantialmodiflcation for steeringj a 'torpedopryesseh keeping it automatically upon a 'set course. or `varying .the course by ,varyingy theposition of the ":ontact maker of the pendulumtpotentiometer. A rapid iuctuation of the'rud'der or a fluttering movement of small amplitude causes no'corresponding luctua-r J tions ofthe vessel, and only when thesetting or i positioning of the pendulumpotentiometer produces aco-rresponding positioning of thepiston potentiometerdoesia course changing movement sliding' follower valves arerequiredas used on the present type lof air mechanisms; unit construc-v tion can .be usedpthat `is the depth mechanism need not be mounted adjacent to the depth engine; the cylinder and piston assembly can be mounted with the oil reservoir as a unit orseparately as desired; positive and'proportional motion of the rudder is obtained with the tilt or depth change of the torpedo; theeect of friction in the rudder to the piston and cylinder assembly Vupon operation of the system is eliminated; and the assembly may be used on homing head torpedoes with only the addition of a relay switch.

Although this system has been described in detail it should be regarded as an illustration or example and not as a restriction or limitation,` as various changesmay be made in the construction, combination, and arrangement of the parts Without departing from the spirit and scope of the invention. i

I claim:

l. An electro-hydraulic depth control system for torpedoes, a rudder and a piston and cylinder engine for moving ita pendulum potentiometer actuated by fore'and aft inclination of the torpedo, fluid pressure means for moving the piston in reverse directions and including magnetic valve means and an energizing circuit therefor including normally open contacts with a relay for closing them, an electronic device and a circuit from the potentiometer including the relay and the device to successively energize and deenergize the relay, and a piston potentiometer connected in parallel with the pendulum potentiometer and including a contact maker movable with the piston and connected to the electronic device to vary the current through the relay and operating the relay contacts to vary the magnetic valve means and thereby to produce a rapid iiuttering action of the piston and of the rudder.

ometer, a relay for controlling the magnetic valve means, and an electronic tube having a plate connected to a variable contact maker of the pendulum potentiometer, a grid connected to a variable contact maker of the piston potentiometer, and a cathode connected to the relay. the tube connections operative to produce rapid l fluctuations of current fto the relay causing a 2. In an electro-hydraulic depth control system for torpedoes, a rudder and a piston and cylinder engine for operating it, uid pressure supply means for the engine, magnetic valve means to control the fluid p-ressure means, a pendulum potentiometer and a piston potentiometer connected in parallel, a relay for controlling the magnetic Valve means, and an electronic device connected to the relay and to the potentiometers separately and operative to vary current to the relay for operating the valve means and to move the piston potentiometer correspondingly for any change of the pendulum potentiometer.

3. In an electro-hydraulic depth control system for torpedoes, a rudder and a piston and cylinder engine for operating it, uid pressure supply means for the engine, magnetic valve means to control the uid pressure means. a pendulum potentiometer and a piston potentiometer connected thereto, a relay connected to and for controlling the magnetic valve means, and an electronic tube having a grid connected to the piston potentiometer, a plate connected to the pendulum potentiometer, a cathode connected to the relay, and the tube being operative to rapidly energize and de-energize the relay for any set position of the pendulum potentiometer to cause a rapid movement of the piston and the rudder for any position of the pendulum potentiometer.

4. In an electro-hydraulic depth control system for torpedoes, a rudder and a piston and cylinder engine for operating it, luid pressure supply means for the engine, magnetic valve means to control the fluid pressure means, a pendulum potentiometer and a piston potentinuttering actionV of the piston and rudder ci small amplitude at relatively different locations depending upon the position of the pendulum contact makerf 5. In a rudder control systemfor torpedoes and the like, a rudder and a piston and cylinder enF gine for operating it, fluid pressure supply means for the engine, magnetic valve means to control the supply means, a positioning potentiometer. a following potentiometer operated by the engine and movable with the piston, a relay for controlling the magnetic valve means, and an electronic device having a plate connected to the po sitioning potentiometer, a grid connected to the follower potentiometer, `and a cathode connected to the relay, the arrangement being that'any variationof the positioning potentiometer will cause the relay to `operate the valve means to change uid pressure applied to the engine, moving the piston and changing the followerI potentiometer to correspond with the position of the positioning potentiometer and changing the current in the electronic device to `cut off the relay, and repeating thisv cycle with rapid movements of small amplitude of the piston and rudder in any set position after the follower potentiometer is changed to correspond with the set position of the positioning potentiometer.

6. In a rudder control system for torpedoes and the like, a rudder and a piston and cylinder engine Iconnected thereto for operating it, uid pressure supply means connected to opposite sides of the piston near the ends of the cylinder electro-responsive valve means for controlling the excess of pressure 0n one side or the other of the piston, a circuit including closable contacts for operating the valve means, a relay for opening and closing the contacts, a potentiometer variable by the movement of the piston, a positioning potentiometer, and an electronic device having parts connected to the positioning potentiometer, to the piston potentiometer, and to the relay, with the arrangement that a current is set up which will actuate the relay to close the contacts and this will close a circuit to produce actuation of the valve means to operate the piston and its potentiometer in a manner to reduce the voltage in the device and then to reduce current in the device to the relay to open the contacts, and to repeat this cycle in rapid iluctuations of small amplitude.

7, In a rudder control system for torpedoes and `the like, said control system having a rudder and a piston rod connected thereto for operating it, a piston on the' rod movable in a cylinder, high pressure iluid supply pipes connected at opposite ends of the cylinder, pumping means for supplying iiuid through the pipes under pressure to both ends of the cylinder, and a valve in connection with each pipe comprising a movable valve plug; a centrally pivoted magnet bar to the ends of which the valve plugs are connected for movement in opposite directions to close one valve and to open the other, an electro-magnet stationed at one side of the magnet bar pivot to koperate the bar in one direction, a spring stationed at the other side of said pivot to operate aci-acer the: bar` in the reverse direction, and means to rapidly energize andde-energiZethe electro-magnet to' produceva rapid fluctuation of the bar.

8. In a rudder control system for torpedoes and the like, said control system having a rudder and a piston rod connected thereto for operating it, a cylinder and apiston therein connectedr tothe rod, and high pressure supply pipes, connected to the cylinder at opposite ends; a closed fluid container, pumping ymeans housed in` the` container and being operative to draw fluid from the container and deliver it through thepipesunder pressure-to both ends of thecylinder, a Amagnet frame also housedin the containensaid frame having valve recesses andopenings at spacedlocations connected to the pipes, Vvalve plugsengageable in the recesses andmovable outwardly to relievepressure in the pipes, a magnet bar adjacent to the magnet frame, being pivoted at its central part on said framey andvconnected at its ends to theplugs, an electro-magnet mounted n kon the frame to rock the bar in adrection to engageone plug andto freethe other, and spring meansl mounted between the frame and magnet l bazgrbeing. opposed to thefmagnet pull to engage the other Asaid plug andto free the first one, and means to alternately energize and de-energize the electro-*magnet to rockIthe bar rapidly vin opposite` directions. i

9. In a rudder control System for torpedoesfand` ypiston chamber and a `relief chamber, and a piston on the rod inthe piston chamber; a sealed container, a tubular connection between the relief.

ends of the piston chamber, relief means for each' pipe inthe containercomprising al valve plugfor,

each piperajbar mounted to rock about itscenter y having a valve` plug at each end, an .electro-mag-v` netl tovrockv the bar in one direction, spring means to rock the barV in thezother direction, an. electric circuit including circuit closing contacts and a relay coil forclosing them ar piston potentiometerhaving a contact makercarried by and movable.r with the piston rod, a positioning potentiometer v .body motion at anyselected orvpredete'rmined balance point `between the two potentiometers,Y

thelcontact maker of pistonr potentiometer assuming thecorresponding relative position takenby the pendulum-contact maker or into which it is moved bythe pendulum or manually.`

` AUGUST Kairo.

REFERENCES olfrsn The following references vare of record in the iile 'ofthispatent: f y

` UNITEDMSTATES PATEN'IS Number Name Date 1,378,291 Sperry ..May 17, A1921v 1,890,041 McLeod n si 1 Dec.j6, 1932 2,108,498 McLeod -F'eh 15, 1938 2,232,982 Tank Feb. 27, 1941 2,274,734 Esnault-Pelterie f Mar. 3, 1942 

